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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #include "ao.h"
  19 #include "ao_telem.h"
  20
  21 #if !HAS_MONITOR
  22 #error Must define HAS_MONITOR to 1
  23 #endif
  24
  25 #ifndef LEGACY_MONITOR
  26 #error Must define LEGACY_MONITOR
  27 #endif
  28
  29 #ifndef HAS_MONITOR_PUT
  30 #define HAS_MONIOTOR_PUT 1
  31 #endif
  32
  33 __data uint8_t ao_monitoring;
  34 __pdata uint8_t ao_monitor_led;
  35
  36 __xdata union ao_monitor ao_monitor_ring[AO_MONITOR_RING];
  37
  38 __data uint8_t  ao_monitor_head;
  39
  40 void
  41 ao_monitor_get(void)
  42 {
  43         uint8_t size;
  44
  45         for (;;) {
  46                 switch (ao_monitoring) {
  47                 case 0:
  48                         ao_sleep(DATA_TO_XDATA(&ao_monitoring));
  49                         continue;
  50 #if LEGACY_MONITOR
  51                 case AO_MONITORING_ORIG:
  52                         size = sizeof (struct ao_telemetry_orig_recv);
  53                         break;
  54                 case AO_MONITORING_TINY:
  55                         size = sizeof (struct ao_telemetry_tiny_recv);
  56                         break;
  57 #endif
  58                 default:
  59                         if (ao_monitoring > AO_MAX_TELEMETRY)
  60                                 ao_monitoring = AO_MAX_TELEMETRY;
  61                         size = ao_monitoring;
  62                         break;
  63                 }
  64                 if (!ao_radio_recv(&ao_monitor_ring[ao_monitor_head], size + 2))
  65                         continue;
  66                 ao_monitor_head = ao_monitor_ring_next(ao_monitor_head);
  67                 ao_wakeup(DATA_TO_XDATA(&ao_monitor_head));
  68         }
  69 }
  70
  71 void
  72 ao_monitor_blink(void)
  73 {
  74         for (;;) {
  75                 ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
  76                 ao_led_for(ao_monitor_led, AO_MS_TO_TICKS(100));
  77         }
  78 }
  79
  80 #if HAS_MONITOR_PUT
  81 void
  82 ao_monitor_put(void)
  83 {
  84 #if LEGACY_MONITOR
  85         __xdata char callsign[AO_MAX_CALLSIGN+1];
  86         int16_t rssi;
  87 #endif
  88         uint8_t ao_monitor_tail;
  89         uint8_t state;
  90         uint8_t sum, byte;
  91         __xdata union ao_monitor        *m;
  92
  93 #define recv_raw        ((m->raw))
  94 #define recv_orig       ((m->orig))
  95 #define recv_tiny       ((m->tiny))
  96
  97         ao_monitor_tail = ao_monitor_head;
  98         for (;;) {
  99                 while (ao_monitor_tail == ao_monitor_head)
 100                         ao_sleep(DATA_TO_XDATA(&ao_monitor_head));
 101                 m = &ao_monitor_ring[ao_monitor_tail];
 102                 ao_monitor_tail = ao_monitor_ring_next(ao_monitor_tail);
 103                 switch (ao_monitoring) {
 104 #if LEGACY_MONITOR
 105                 case AO_MONITORING_ORIG:
 106                         state = recv_orig.telemetry_orig.flight_state;
 107
 108                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 109                         rssi = (int16_t) (recv_orig.rssi >> 1) - 74;
 110                         ao_xmemcpy(callsign, recv_orig.telemetry_orig.callsign, AO_MAX_CALLSIGN);
 111                         if (state > ao_flight_invalid)
 112                                 state = ao_flight_invalid;
 113                         if (recv_orig.status & PKT_APPEND_STATUS_1_CRC_OK) {
 114
 115                                 /* General header fields */
 116                                 printf(AO_TELEM_VERSION " %d "
 117                                        AO_TELEM_CALL " %s "
 118                                        AO_TELEM_SERIAL " %d "
 119                                        AO_TELEM_FLIGHT " %d "
 120                                        AO_TELEM_RSSI " %d "
 121                                        AO_TELEM_STATE " %s "
 122                                        AO_TELEM_TICK " %d ",
 123                                        AO_TELEMETRY_VERSION,
 124                                        callsign,
 125                                        recv_orig.telemetry_orig.serial,
 126                                        recv_orig.telemetry_orig.flight,
 127                                        rssi,
 128                                        ao_state_names[state],
 129                                        recv_orig.telemetry_orig.adc.tick);
 130
 131                                 /* Raw sensor values */
 132                                 printf(AO_TELEM_RAW_ACCEL " %d "
 133                                        AO_TELEM_RAW_BARO " %d "
 134                                        AO_TELEM_RAW_THERMO " %d "
 135                                        AO_TELEM_RAW_BATT " %d "
 136                                        AO_TELEM_RAW_DROGUE " %d "
 137                                        AO_TELEM_RAW_MAIN " %d ",
 138                                        recv_orig.telemetry_orig.adc.accel,
 139                                        recv_orig.telemetry_orig.adc.pres,
 140                                        recv_orig.telemetry_orig.adc.temp,
 141                                        recv_orig.telemetry_orig.adc.v_batt,
 142                                        recv_orig.telemetry_orig.adc.sense_d,
 143                                        recv_orig.telemetry_orig.adc.sense_m);
 144
 145                                 /* Sensor calibration values */
 146                                 printf(AO_TELEM_CAL_ACCEL_GROUND " %d "
 147                                        AO_TELEM_CAL_BARO_GROUND " %d "
 148                                        AO_TELEM_CAL_ACCEL_PLUS " %d "
 149                                        AO_TELEM_CAL_ACCEL_MINUS " %d ",
 150                                        recv_orig.telemetry_orig.ground_accel,
 151                                        recv_orig.telemetry_orig.ground_pres,
 152                                        recv_orig.telemetry_orig.accel_plus_g,
 153                                        recv_orig.telemetry_orig.accel_minus_g);
 154
 155                                 if (recv_orig.telemetry_orig.u.k.unused == 0x8000) {
 156                                         /* Kalman state values */
 157                                         printf(AO_TELEM_KALMAN_HEIGHT " %d "
 158                                                AO_TELEM_KALMAN_SPEED " %d "
 159                                                AO_TELEM_KALMAN_ACCEL " %d ",
 160                                                recv_orig.telemetry_orig.height,
 161                                                recv_orig.telemetry_orig.u.k.speed,
 162                                                recv_orig.telemetry_orig.accel);
 163                                 } else {
 164                                         /* Ad-hoc flight values */
 165                                         printf(AO_TELEM_ADHOC_ACCEL " %d "
 166                                                AO_TELEM_ADHOC_SPEED " %ld "
 167                                                AO_TELEM_ADHOC_BARO " %d ",
 168                                                recv_orig.telemetry_orig.accel,
 169                                                recv_orig.telemetry_orig.u.flight_vel,
 170                                                recv_orig.telemetry_orig.height);
 171                                 }
 172                                 ao_gps_print(&recv_orig.telemetry_orig.gps);
 173                                 ao_gps_tracking_print(&recv_orig.telemetry_orig.gps_tracking);
 174                                 putchar('\n');
 175 #if HAS_RSSI
 176                                 ao_rssi_set(rssi);
 177 #endif
 178                         } else {
 179                                 printf("CRC INVALID RSSI %3d\n", rssi);
 180                         }
 181                         break;
 182                 case AO_MONITORING_TINY:
 183                         state = recv_tiny.telemetry_tiny.flight_state;
 184
 185                         /* Typical RSSI offset for 38.4kBaud at 433 MHz is 74 */
 186                         rssi = (int16_t) (recv_tiny.rssi >> 1) - 74;
 187                         ao_xmemcpy(callsign, recv_tiny.telemetry_tiny.callsign, AO_MAX_CALLSIGN);
 188                         if (state > ao_flight_invalid)
 189                                 state = ao_flight_invalid;
 190                         if (recv_tiny.status & PKT_APPEND_STATUS_1_CRC_OK) {
 191                                 /* General header fields */
 192                                 printf(AO_TELEM_VERSION " %d "
 193                                        AO_TELEM_CALL " %s "
 194                                        AO_TELEM_SERIAL " %d "
 195                                        AO_TELEM_FLIGHT " %d "
 196                                        AO_TELEM_RSSI " %d "
 197                                        AO_TELEM_STATE " %s "
 198                                        AO_TELEM_TICK " %d ",
 199                                        AO_TELEMETRY_VERSION,
 200                                        callsign,
 201                                        recv_tiny.telemetry_tiny.serial,
 202                                        recv_tiny.telemetry_tiny.flight,
 203                                        rssi,
 204                                        ao_state_names[state],
 205                                        recv_tiny.telemetry_tiny.adc.tick);
 206
 207                                 /* Raw sensor values */
 208                                 printf(AO_TELEM_RAW_BARO " %d "
 209                                        AO_TELEM_RAW_THERMO " %d "
 210                                        AO_TELEM_RAW_BATT " %d "
 211                                        AO_TELEM_RAW_DROGUE " %d "
 212                                        AO_TELEM_RAW_MAIN " %d ",
 213                                        recv_tiny.telemetry_tiny.adc.pres,
 214                                        recv_tiny.telemetry_tiny.adc.temp,
 215                                        recv_tiny.telemetry_tiny.adc.v_batt,
 216                                        recv_tiny.telemetry_tiny.adc.sense_d,
 217                                        recv_tiny.telemetry_tiny.adc.sense_m);
 218
 219                                 /* Sensor calibration values */
 220                                 printf(AO_TELEM_CAL_BARO_GROUND " %d ",
 221                                        recv_tiny.telemetry_tiny.ground_pres);
 222
 223 #if 1
 224                                 /* Kalman state values */
 225                                 printf(AO_TELEM_KALMAN_HEIGHT " %d "
 226                                        AO_TELEM_KALMAN_SPEED " %d "
 227                                        AO_TELEM_KALMAN_ACCEL " %d\n",
 228                                        recv_tiny.telemetry_tiny.height,
 229                                        recv_tiny.telemetry_tiny.speed,
 230                                        recv_tiny.telemetry_tiny.accel);
 231 #else
 232                                 /* Ad-hoc flight values */
 233                                 printf(AO_TELEM_ADHOC_ACCEL " %d "
 234                                        AO_TELEM_ADHOC_SPEED " %ld "
 235                                        AO_TELEM_ADHOC_BARO " %d\n",
 236                                        recv_tiny.telemetry_tiny.flight_accel,
 237                                        recv_tiny.telemetry_tiny.flight_vel,
 238                                        recv_tiny.telemetry_tiny.flight_pres);
 239 #endif
 240 #if HAS_RSSI
 241                                 ao_rssi_set(rssi);
 242 #endif
 243                         } else {
 244                                 printf("CRC INVALID RSSI %3d\n", rssi);
 245                         }
 246                         break;
 247 #endif /* LEGACY_MONITOR */
 248                 default:
 249                         printf ("TELEM %02x", ao_monitoring + 2);
 250                         sum = 0x5a;
 251                         for (state = 0; state < ao_monitoring + 2; state++) {
 252                                 byte = recv_raw.packet[state];
 253                                 sum += byte;
 254                                 printf("%02x", byte);
 255                         }
 256                         printf("%02x\n", sum);
 257 #if HAS_RSSI
 258                         if (recv_raw.packet[ao_monitoring + 1] & PKT_APPEND_STATUS_1_CRC_OK) {
 259                                 rssi = ((int16_t) recv_raw.packet[ao_monitoring] >> 1) - 74;
 260                                 ao_rssi_set(rssi);
 261                         }
 262 #endif
 263                         break;
 264                 }
 265                 ao_usb_flush();
 266         }
 267 }
 268 __xdata struct ao_task ao_monitor_put_task;
 269 #endif
 270
 271 __xdata struct ao_task ao_monitor_get_task;
 272 __xdata struct ao_task ao_monitor_blink_task;
 273
 274 void
 275 ao_set_monitor(uint8_t monitoring)
 276 {
 277         if (ao_monitoring)
 278                 ao_radio_recv_abort();
 279         ao_monitoring = monitoring;
 280         ao_wakeup(DATA_TO_XDATA(&ao_monitoring));
 281 }
 282
 283 static void
 284 set_monitor(void)
 285 {
 286         ao_cmd_hex();
 287         ao_set_monitor(ao_cmd_lex_i);
 288 }
 289
 290 __code struct ao_cmds ao_monitor_cmds[] = {
 291         { set_monitor,  "m <0 off, 1 full, 2 tiny>\0Enable/disable radio monitoring" },
 292         { 0,    NULL },
 293 };
 294
 295 void
 296 ao_monitor_init(uint8_t monitor_led, uint8_t monitoring) __reentrant
 297 {
 298         ao_monitor_led = monitor_led;
 299         ao_monitoring = monitoring;
 300         ao_cmd_register(&ao_monitor_cmds[0]);
 301         ao_add_task(&ao_monitor_get_task, ao_monitor_get, "monitor_get");
 302 #if HAS_MONITOR_PUT
 303         ao_add_task(&ao_monitor_put_task, ao_monitor_put, "monitor_put");
 304 #endif
 305         if (ao_monitor_led)
 306                 ao_add_task(&ao_monitor_blink_task, ao_monitor_blink, "monitor_blink");
 307 }